WO2019081918A1 - Haut-parleur amélioré - Google Patents

Haut-parleur amélioré

Info

Publication number
WO2019081918A1
WO2019081918A1 PCT/GB2018/053065 GB2018053065W WO2019081918A1 WO 2019081918 A1 WO2019081918 A1 WO 2019081918A1 GB 2018053065 W GB2018053065 W GB 2018053065W WO 2019081918 A1 WO2019081918 A1 WO 2019081918A1
Authority
WO
WIPO (PCT)
Prior art keywords
speaker
diaphragm
suspension
components
pins
Prior art date
Application number
PCT/GB2018/053065
Other languages
English (en)
Inventor
Hugh Brogan
Original Assignee
Hugh Brogan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB1717413.7A external-priority patent/GB201717413D0/en
Priority claimed from GBGB1717439.2A external-priority patent/GB201717439D0/en
Application filed by Hugh Brogan filed Critical Hugh Brogan
Priority to EP18808458.6A priority Critical patent/EP3701727A1/fr
Priority to US16/758,727 priority patent/US11678122B2/en
Publication of WO2019081918A1 publication Critical patent/WO2019081918A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R7/00—Diaphragms for electromechanical transducers; Cones
    • H04R7/16—Mounting or tensioning of diaphragms or cones
    • H04R7/18—Mounting or tensioning of diaphragms or cones at the periphery
    • H04R7/22—Clamping rim of diaphragm or cone against seating
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R7/00—Diaphragms for electromechanical transducers; Cones
    • H04R7/16—Mounting or tensioning of diaphragms or cones
    • H04R7/18—Mounting or tensioning of diaphragms or cones at the periphery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R7/00—Diaphragms for electromechanical transducers; Cones
    • H04R7/02—Diaphragms for electromechanical transducers; Cones characterised by the construction
    • H04R7/04—Plane diaphragms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R7/00—Diaphragms for electromechanical transducers; Cones
    • H04R7/02—Diaphragms for electromechanical transducers; Cones characterised by the construction
    • H04R7/04—Plane diaphragms
    • H04R7/045—Plane diaphragms using the distributed mode principle, i.e. whereby the acoustic radiation is emanated from uniformly distributed free bending wave vibration induced in a stiff panel and not from pistonic motion

Definitions

  • the invention relates to audio speakers with moving diaphragms, including speakers with speaker cones and also distributed mode loudspeakers.
  • a further complication with roll top suspension systems for speaker designers is that when the cone is mounted vertically, at least a proportion of the mass of the cone is supported by the suspension. This means that the top of the suspension is expanded whilst the lower part of the suspension is in compression. This distorts the shape of the suspension, which can have detrimental effects on the linear pistonic action of the speaker cone as the compliance of the suspension is no longer uniform around the cone's periphery.
  • Typical cone speakers require that when an audio signal is applied to the speaker, the cone moves by the same amount in both directions.
  • the trend in consumer electronics, specifically mobile devices, smartphones, tablet computers, MP3 players etc. is for speakers to be designed with very small and thin form factors. This can place limits on the excursion that the speaker cone is allowed to travel.
  • the performance and integration of the speaker can be optimised if the excursion is asymmetrical.
  • designing and manufacturing a small form factor speaker with asymmetrical excursion is difficult and complex. Audio system designers can assist with this by using complex electronics and software that can monitor the displacement of the speaker by measuring it's dynamic impedance and adjusting the system amplifier's output to limit excursion in a specific direction. But this results in additional system costs, is wasteful of power in a portable device and is complex to implement.
  • pistonic speakers Whilst in general pistonic speakers are circular in design, some pistonic speakers, such as those used for high frequency sound reproduction (“tweeters”) are different shapes, such as rectangles etc. This creates additional problems for speaker designers, as due to the non- uniformity of opposing sides of the speaker (ie the long edge vs the short edge as in the case of a rectangle) the difference in the length of these sides results in unequal suspension compliance for a given material and design. Therefore, when the cone moves, it will twist and torque the speaker suspension, creating distortion in the audio signal (remembering that for proper action the suspension must be equally complaint on all sides to allow for uniform pistonic action).
  • DML distributed mode loudspeakers
  • DML loudspeaker differ from conventional pistonic loudspeakers in that they do not rely on pistonc movement to produce sound. Rather DML speakers utilise motors, typically moving coil transducers or piezo electric transducers, which are attached to a panel and driven by an audio source to transmit bending wave energy into the panel.
  • the panel is a light, stiff and (typically) flat panel. The bending waves excite resonant modes within the panel: the excitation of these modes above and in some cases below the coincidence frequency of the panel are coupled into air and produce sound.
  • DML teaching as detailed in Patent Application W097/ 09842 describes how, for best performance, DML panels and transducers should be designed and transducers located to maximise the number of resonant modes and that these modes must be evenly spaced across the panel to avoid clustering and associated dead spots where no energy is coupled into air.
  • Patent Application W097/ 09842 further describes how the use of a roll top suspension can be used to enhance the modal behaviour of the panel. Given the nature of bending waves and the desire to enhance certain modes within the panel and to distribute these evenly across the panel, a roll top suspension has its limitations.
  • a single roll top suspension is not ideal, as the panel suspension requirements of the panel are not uniform around its periphery, requiring different compliance and or attachment to the panel to enhance the modal behaviour of the panel. This is not easily achieved, requiring either complex design and manufacturing of a suspension with asymmetrical and non-uniform compliance and also partial attachment at certain locations along the periphery of the panel.
  • aspects of the present invention are used to greatly offset the complex design and manufacturing process required to create speaker suspension systems and specifically are of great benefit for use in a DML, where non-uniform suspension and damping of the panel is in many cases desirable and in some cases essential.
  • the invention is a speaker comprising an electroacoustic transducer diaphragm which is mounted between, or suspended from, multiple suspension pins or suspension components.
  • Optional features include one or more of the following:
  • the suspension pins or suspension components provide mechanical support and acoustic isolation to the diaphragm.
  • the diaphragm is suspended from or between a support frame by the multiple suspension pins or suspension components
  • suspension pins or suspension components are the only, or substantially only, means of connecting or mounting the diaphragm to the support frame.
  • the suspension pins or suspension components provide both mechanical support for the diaphragm and damp unwanted oscillations passing from the diaphragm into the support frame and back into the diaphragm.
  • the diaphragm is a panel
  • the diaphragm is a DML diaphragm or panel
  • the suspension pins or components each have a predefined compliance, stiffness, or flexibility
  • the suspension pins or components each have a predefined compliance, stiffness, or flexibility configured to control the movement, oscillation or other behaviour of the diaphragm
  • suspension pins or components are configured with a different compliance, stiffness, or flexibility than other suspension pins or devices
  • suspension pins or components are mounted with one end in a clamp and are configured to contact a part of the diaphragm at their other end.
  • suspension pins or components are mounted with one end in or on the frame and are configured to contact a part of the diaphragm at their other end. • Some suspension pins or components are positioned on one face of the diaphragm and other suspension pins or devices are positioned on an opposing face of the diaphragm
  • suspension pins or components provide any one or more of the following types of suspension: free, semi-supported or clamped.
  • the suspension pins or components are made from an elastomeric material, such as foam or rubber, with a compliance in the range Shore 0 grade 00 to Shore D grade 100; and preferably between Shore 00 40 and Shore 00 80.
  • Compliance is axial and/ or rotational compliance
  • At least some suspension pins or components are positioned at or substantially close to nodes.
  • suspension pins or components are configured with a height selected to control the movement or other behaviour of the diaphragm.
  • the suspension pins or components are configured with a compliance and/ or mass selected to control the movement or other behaviour of the diaphragm.
  • the suspension pins or components are configured with a surface area of contact with the diaphragm that is selected to control the movement or other behaviour of the diaphragm.
  • the suspension pins or components are configured with an external shape that is selected to control the movement or other behaviour of the diaphragm
  • the suspension pins or components are configured with an external construction that is selected to control the movement or other behaviour of the diaphragm.
  • the suspension pins or components are configured with a hollow internal construction that is selected to control the movement or other behaviour of the diaphragm.
  • the speaker also includes damping pins that reduce unwanted clustering of nodes.
  • damping pins are of different design, materials and have different compliance and or suspension characteristic •
  • a damping pin or a plurality of damping pins are placed into the frame or an element attached to the frame in which the damping pin is positioned to alter the modal behaviour of the diaphragm.
  • At least some suspension pins or components are formed as strips of components.
  • Suspension pins of different design and compliance serve to limit the excursion of the speaker to a different degree in forward or reverse excursion and in different positions across the area of the speaker.
  • Bosses are used in the frame and / or the clamp ring
  • the frame has bosses whose height and shape determine the position of the diaphragm
  • the clamp ring has bosses whose height and shape may determine the position of the diaphragm.
  • the frame has bosses whose height determines the distance between the frame and the diaphragm and the preload of the suspension pins on the diaphragm
  • the clamp ring has bosses whose height determines the distance between the clamp ring and the diaphragm and the preload of the suspension pins on the diaphragm.
  • Frame is made of metal, rubber, glass, plastic, carbon fibre, Kevlar or a composite of these materials
  • the clamp is made of metal, rubber, glass, plastic, carbon fibre, Kevlar or a composite of these materials
  • a DML panel is made of paper, wood, metal, glass, plastic, carbon fibre, kevlar or a composite of these materials
  • a speaker cone is made of paper, wood, metal, glass, plastic, carbon fibre, kevlar or a composite of these materials
  • the diaphragm includes a dynamic speaker cone.
  • the diaphragm includes a dynamic speaker cone diaphragm that is circular, square or rectangular
  • the diaphragm includes a panel of a DML, or distributed mode loudspeaker.
  • the speaker is mounted in a smartphone, mp3 or other personal digital music player, or smartwatch or other type of portable, personal device
  • the speaker is mounted in a laptop or desktop device or automotive system.
  • the speaker is mounted in a car.
  • the speaker is mounted in a device that is optimised for thinness.
  • electroacoustic transducer diaphragm should be expansively construed to cover any device that can be used to generate sound, and hence any sort of speaker diaphragm. It covers also any device that picks up sound, and hence covers any sort of microphone. All o the above features apply also to a microphone.
  • a second aspect is therefore a microphone comprising an electroacoustic transducer diaphragm which is mounted between, or suspended from, multiple suspension pins or suspension components.
  • Figure 1 which shows a schematic of a circular speaker cone mounted using suspension pins
  • Figure 2 is an exploded perspective view of a development rig used for developing a circular speaker cone mounted using suspension pins;
  • Figure 3 are plan and cross section views of the development rig shown in Figure 2;
  • Figure 4 is an enlarged portion of the cross section view AA shown in Figure 3 that depicts more clearly the speaker cone suspended between suspension pins;
  • Figure 5 is a schematic of a rectangular DML speaker panel mounted using suspension pins
  • Figure 6 is an exploded perspective view of a development rig used for developing a rectangular DML speaker panel mounted using suspension pins
  • Figure 7 are plan and cross section views of the development rig shown in Figure 6;
  • Figure 8 is an enlarged portion of the cross section view AA shown in Figure 7 that depicts more clearly the DML speaker panel suspended between suspension pins.
  • An implementation of the invention is a speaker assembly in which the cone or panel or other form of diaphragm is suspended on a series of discrete complaint suspension components, thereby providing a damped movement to that diaphragm, or otherwise controlling the oscillations of that diaphragm.
  • Each point or node at which the suspension components are placed can be associated with a suspension component with an optimised compliance, thereby allowing the vibration, frequency response and/ or excursion of a speaker diaphragm to be specifically damped or otherwise controlled at different points, around its perimeter or within its perimeter, to reduce (in the case of a conventional speaker) unwanted resonances in the speaker or enhance (in the case of a DML) the resonant behaviour of the speaker, thereby improving its performance.
  • Fig 1 shows a schematic for a pistonic speaker assembly: the speaker cone or diaphragm is mounted in a Frame (11) into which a plurality of suspension pins (16) have been placed.
  • the pins (16) may be individual pins or formed in strips and can be either inserted or molded into the frame (11).
  • Each of the suspension pins may have the same physical design and/ or material specification, or a different design and/ or material specification as required to alter the suspension characteristics of the pin and to suspend the speaker cone diaphragm (13).
  • the speaker cone (13) is placed into the frame (11) and aligned on to bosses within the frame to ensure that the cone is correctly positioned in respect of the suspension pins, which maybe designed to give different compliance and other characteristics at different points around the cones' periphery.
  • a clamp ring (15) is attached to the frame, into which suspension pins (16) have been inserted / molded.
  • the clamp ring may have bosses which align with bosses in the frame to ensure the suspension pins, which may have different compliance or other characteristics at different locations on the clamp ring, are correctly orientated with respect to the speaker cone and therefore the required suspension characteristics are aligned in the correct position in respect of the speaker cone and the overall speaker assembly.
  • Fixings such as screws (12), which can be advantageously placed to provide the correct strength and robustness to the assembly and to enhance acoustic performance, are then used to attach the clamp ring to the frame.
  • the boss heights on both the frame and the clamp ring may be set to ensure the preload on the suspension pins is set correctly in steady state conditions. It is envisaged that a compressible washer (14) may be used to provide acoustic isolation between the clamp ring and the frame.
  • Figures 2— 4 are engineering drawings for a development rig for this system, retaining the same integer numbering as Figure 1.
  • Figure 4 is enlargement of the circled portion of Section AA in Figure 3, and shows more clearly how the speaker cone diaphragm 13 is sandwiched between suspension pins 16.
  • the speaker cone when mounted vertically does not rely on a roll top suspension for partial lateral support, thereby ensuring the suspension geometry is constant and not pre-loaded by the weight of the cone and therefore producing a more consistent performance for consumers regardless of how or in what the position the speaker is placed when listening to it.
  • Bosses are used in the frame (11) and /or the clamp ring (15) and these can be different shapes or keyed to align with similar shapes in Fig 1 - 4, the cone speaker (13), or Fig 5— 8, the DML speaker panel or diaphragm. This ensures that the speaker when assembled can be correctly positioned to take advantage of different suspension pins and their associated characteristics, which can be matched more closely to the cones / panels physical characteristics and or modes, resulting in higher performance of the speaker assembly which is of benefit to consumers and also a more consistent manufacturing process, which is of benefit to manufacturers.
  • the speaker is easier to manufacture than typical "roll top" suspension as used in many speakers, as the suspension does not have to be bonded to the speaker cone / panel, greatly simplifying the manufacturing process and the investment in capital equipment necessary to perform such bonding.
  • Suspension pins can be placed into the frame or clamp ring either individually or in strips, which is a far less complex process requiring less capital investment for a speaker manufacturers.
  • Fig 5— 7 shows a schematic for a typical rectangular DML speaker with a frame (2) into which a plurality of suspension pins (1) are inserted.
  • a DML panel or diaphragm (3) is assembled to the frame and may be aligned on bosses in the frame.
  • a clamp ring (5) which has a plurality of suspension pins (1) inserted into it, is attached to the frame.
  • the frame and clamp ring may have bosses that are strategically positioned empirically or mathematically derived to provide good acoustic performance and strength / robustness to the speaker assembly.
  • the clamp ring bosses (which may align with bosses in the frame) can be configured to ensure that suspension pins inserted into the clamp ring are correctly orientated in respect of the frame and the panel. Fixings, such as screws (4) may be inserted into the frame and secured against the clamp ring to secure and clamp, the clamp ring and the suspension to the panel. The height of the bosses is determined to ensure that the suspension is preloaded such the panel performs well as a DML speaker.
  • a compressible washer (7) maybe be used between the frame bosses and clamp ring bosses to acoustically isolate / improve the performance of the frame and the clamp ring.
  • Fig 8 is an enlargement of the circled portion of the section AA in Fig 7; it shows the DML panel 3 sandwiched between suspension pins 1.
  • suspension systems In reference to DML teaching, it is advantageous for suspension systems to enhance modal behaviour by suspending the panel at different points around it's periphery. Modal behaviour and hence performance can be enhanced by suspending the edges of the panel on modal lines and in other specific areas to reduce clustering of modes and to create a more even distribution of the spacing of modes with frequency across the panel.
  • the panel modal behaviour can be enhanced by applying different suspension modes, either clamped, simply supported or free at different locations around the periphery of the panel. This is very difficult and complex to achieve with a roll top suspension as it requires the compliance and other characteristics of the roll top suspension to be different along its length, which implies non-uniformity. This would need either design and or material change at different points along the roll top suspension.
  • a further disadvantage of a roll top suspension in a DML is that typical DML speakers as taught in Patent Application WO97/09842 have an out of square aspect ratio to assist in promoting good modal behaviour. If a roll top suspension is applied to such an out of square member then differences in the length and width of the panel will create greater or lesser displacements along the non-uniform panel edges. This uneven displacement will twist the suspension, creating torque vectors in the panel to which it is attached and distortion of the audio signal that is being reproduced, unless the design and or materials properties of the suspension along the long and shorter edges of the panel are adjusted to compensate for this. This results in both a very complex design and a complex manufacturing of the suspension and the speaker. An implementation of the present invention solves both of these problems in a novel manner.
  • Suspension pins can be placed with spacing in the range of microns to mm's from one another, allowing designers great freedom and fine control of the suspension and behaviour of the panel which is essential for good sound reproduction and has not been able to be achieved to date with roll top suspensions.
  • suspension pins greatly simplifies the design of high performance DML speakers as it does not require the design, molding and bonding of a composite / multi profile roll top suspension system which is expensive to make and is ultimately compromised in performance.
  • a further benefit of an implementation of the present invention is that the problems associated with suspension twisting and the corresponding effect that this has on the panel and the sound reproduction are avoided because the compliance of individual suspension pins can be tuned along the length and width of the panel to compensate for the change in forces applied to the different length sides and to avoid torque and twist being sent in to the panel and to avoid the corresponding twist of the roll top suspension and the associated impact on performance.
  • the frame (2) itself may have damping pins (6) inserted into it at beneficial locations; these damping pins may or may not be in contact with the panel at rest in various locations. These damping pins, when in contact with the panel during operation of the speaker, serve to change the modal behaviour of the panel during such operation to improve the modal behaviour of the panel to reproduce audio.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)

Abstract

Un haut-parleur comprend un diaphragme de transducteur électroacoustique qui est monté entre, ou suspendu à partir, de multiples broches de suspension ou de composants de suspension. Les broches de suspension ou les composants de suspension fournissent un support mécanique et une isolation acoustique au diaphragme.
PCT/GB2018/053065 2017-10-23 2018-10-23 Haut-parleur amélioré WO2019081918A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP18808458.6A EP3701727A1 (fr) 2017-10-23 2018-10-23 Haut-parleur amélioré
US16/758,727 US11678122B2 (en) 2017-10-23 2018-10-23 Speaker

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GBGB1717413.7A GB201717413D0 (en) 2017-10-23 2017-10-23 Speaker suspension
GB1717413.7 2017-10-23
GBGB1717439.2A GB201717439D0 (en) 2017-10-24 2017-10-24 Speaker suspension II
GB1717439.2 2017-10-24

Publications (1)

Publication Number Publication Date
WO2019081918A1 true WO2019081918A1 (fr) 2019-05-02

Family

ID=64477204

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2018/053065 WO2019081918A1 (fr) 2017-10-23 2018-10-23 Haut-parleur amélioré

Country Status (3)

Country Link
US (1) US11678122B2 (fr)
EP (1) EP3701727A1 (fr)
WO (1) WO2019081918A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997009842A2 (fr) 1995-09-02 1997-03-13 New Transducers Limited Dispositif acoustique
DE19631293A1 (de) * 1996-08-02 1998-04-09 Nokia Deutschland Gmbh Akustischer Wandler
WO1998043464A1 (fr) * 1997-03-22 1998-10-01 New Transducers Limited Ordinateurs individuels comprenant un haut-parleur resonant en forme de panneau
US6324294B1 (en) * 1996-09-03 2001-11-27 New Transducers Limited Passenger vehicles incorporating loudspeakers comprising panel-form acoustic radiating elements
GB2387500A (en) * 2003-01-22 2003-10-15 Shelley Katz Sound reproduction using both conventional loudspeakers and bending-wave loudspeakers
EP1484941A1 (fr) * 2003-06-04 2004-12-08 Harman/Becker Automotive Systems GmbH Haut-parleur
JP2017011395A (ja) * 2015-06-18 2017-01-12 ヤマハ株式会社 平面スピーカ
US9660596B2 (en) * 2015-01-23 2017-05-23 Tectonic Audio Labs Audio transducer stabilization system and method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6324052B1 (en) * 1996-09-03 2001-11-27 New Transducers Limited Personal computing devices comprising a resonant panel loudspeaker
US6568503B2 (en) * 2001-09-13 2003-05-27 Jl Audio, Inc. Loudspeaker with improved mounting structure for the surround
CN1992996B (zh) * 2005-12-30 2012-02-29 丁轶 扬声器振膜的分体式支承结构
GB2480457B (en) * 2010-05-19 2014-01-08 Gp Acoustics Uk Ltd Loudspeaker
KR102663406B1 (ko) * 2016-04-04 2024-05-14 엘지디스플레이 주식회사 패널 진동형 음향 발생 액츄에이터 및 그를 포함하는 양면 표시 장치

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997009842A2 (fr) 1995-09-02 1997-03-13 New Transducers Limited Dispositif acoustique
DE19631293A1 (de) * 1996-08-02 1998-04-09 Nokia Deutschland Gmbh Akustischer Wandler
US6324294B1 (en) * 1996-09-03 2001-11-27 New Transducers Limited Passenger vehicles incorporating loudspeakers comprising panel-form acoustic radiating elements
WO1998043464A1 (fr) * 1997-03-22 1998-10-01 New Transducers Limited Ordinateurs individuels comprenant un haut-parleur resonant en forme de panneau
GB2387500A (en) * 2003-01-22 2003-10-15 Shelley Katz Sound reproduction using both conventional loudspeakers and bending-wave loudspeakers
EP1484941A1 (fr) * 2003-06-04 2004-12-08 Harman/Becker Automotive Systems GmbH Haut-parleur
US9660596B2 (en) * 2015-01-23 2017-05-23 Tectonic Audio Labs Audio transducer stabilization system and method
JP2017011395A (ja) * 2015-06-18 2017-01-12 ヤマハ株式会社 平面スピーカ

Also Published As

Publication number Publication date
EP3701727A1 (fr) 2020-09-02
US20210400391A1 (en) 2021-12-23
US11678122B2 (en) 2023-06-13

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